Discrete Event Control and Fault Detection and Localization of a Robotic System

被引:0
作者
Awad, Hamdi A. [1 ]
Gomaa, Mostafa M. [2 ]
Anwar, Ahmed R. [1 ]
机构
[1] Menoufia Univ, Fac Elect Engn, Dept Ind Elect & Control Eng, Minuf, Egypt
[2] Ain Shams Univ, Fac Engn, Dept Comp & Syst Engn, Cairo, Egypt
来源
2009 INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING AND SYSTEMS (ICCES 2009) | 2009年
关键词
Discrete Event Control; Fault Detection and Localization; Robotic Systems; Petri Nets;
D O I
10.1109/ICCES.2009.5383304
中图分类号
TP301 [理论、方法];
学科分类号
081202 ;
摘要
A robotic system at the discrete event level requires a suitable discrete event controller that guarantees coordination and dead lock avoidance. It requires also a robust system of fault detection and localization based on minimum feedback information. This paper proposes a new approach fulfilling the discrete event coordinated control and also achieving the fault detection and localization (FDL) tasks. This approach is based on Petri net model of the robotic system, on Petri net supervisor employing place invariant technique, and based on a Petri net diagnoser on employing g-marking concept. The robotic system under investigation is composed of two autonomous robots to be moved in five rooms according to certain crossing control rules. The application of the proposed approach results in coordinated robots motion and detection and localization of a simulated fault.
引用
收藏
页码:86 / +
页数:2
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